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RFID Automated Navigation of a Mobile Platform

RFID Automated Navigation of a Mobile Platform. Tommy Brant, Charles Harper, Patrick Smith, Eni Ofong, Caleb Howell Georgia Institute of Technology School of Electrical and Computer Engineering October 27, 2008. Project Overview.

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RFID Automated Navigation of a Mobile Platform

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  1. RFID Automated Navigation of a Mobile Platform Tommy Brant, Charles Harper, Patrick Smith, Eni Ofong, Caleb Howell Georgia Institute of Technology School of Electrical and Computer Engineering October 27, 2008

  2. Project Overview • The Mobile Platform (MP) is a robot-based system which uses an embedded system and RFID tags to communicate wirelessly with a remote GUI to navigate itself to a final destination

  3. Business Aspect • Intended for use in warehouses as a subsystem of automated storage(AS) and retrieval systems(RS) • Appeals to AS/RS developers for use in easily expandable retrieval systems • Costs $41,600 includes the product and labor for the on-site setup of the network of checkpoints

  4. Project Goals • Wireless communication between the GUI and the robot control systems • RFID tagged areas to identify the location of the robot • Motor control to travel on a point to point basis • Overall objective is for the MP to arrive at the user-determined destination by following the shortest path through a network of RFID checkpoints

  5. RFID Automated MP

  6. Design Approach • Program components separately to ensure the correct output • Once desired outputs are achieved, attach hardware components together and modify code if needed for components to communicate properly

  7. RFID MP System

  8. System Logic CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  9. Determine Direction CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  10. Wireless Transmission CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  11. Network Card CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  12. Motherboard CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  13. Update Direction CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  14. Movement CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  15. RFID Search Loop CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Netpro-vx Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  16. Checkpoint CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Netpro-vx Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  17. Back To Network Card CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Netpro-vx Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  18. Return Info. CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  19. Wait for Next Action CPU decides direction for robot Transmit via ad-hoc Gumstix Netpro-vx Gumstix Verdex Transmit via ad-hoc Turn robot in needed direction No Gumstix Netpro-vx Is at RFID? Stop robot Robot Movement Yes

  20. Automation Demonstration Example

  21. Map With RFID Checkpoints

  22. Graphical User Interface

  23. Choose Starting Position

  24. Starting Position

  25. Choose Final Destination

  26. Plot of the Path

  27. Start

  28. Forward Movement 1

  29. Checkpoint 1

  30. Forward Movement 2

  31. Checkpoint 2

  32. Turn Right

  33. Continue on Path

  34. Forward Movement 3

  35. Checkpoint 3

  36. Forward Movement 4

  37. Arrival at Final Destination

  38. End Movement

  39. MP Capabilities With Additional Technology

  40. Current and Potential Problems • Current • Due to the delay in receiving parts, we are slightly behind schedule • Potential • Proper communication between different hardware components • Centering the mobile platform over the tag for changing direction • Developing algorithms for shortest path • Power supply to the robot components • Heat dissipation from the Gumstix modules.

  41. Project Schedule After Today

  42. Cost Analysis

  43. RFID Cartographer’s Status • All the group members have their hardware components yielding the expected output • We are starting to meet together to test and troubleshoot communication between components

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